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Removed actuator_control_mode flags...Using pre-existing flags instead

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This commit is contained in:
Matt Beall
2015-02-28 15:19:16 +01:00
committed by Thomas Gubler
parent d7dc3a3ee8
commit 220fb19eb7
7 changed files with 18 additions and 31 deletions
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src/modules/vtol_att_control/vtol_att_control_main.cpp
+6 -4
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@@ -782,8 +782,9 @@ void VtolAttitudeControl::task_main()
fill_mc_att_control_output();
fill_mc_att_rates_sp();
/* Only publish if actuator_control mode is not enabled */
if(!_v_control_mode.flag_control_offboard_actuator_control_enabled)
/* Only publish if the proper mode(s) are enabled */
if(_v_control_mode.flag_control_attitude_enabled ||
_v_control_mode.flag_control_rates_enabled)
{
if (_actuators_0_pub > 0) {
orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators_out_0);
@@ -817,8 +818,9 @@ void VtolAttitudeControl::task_main()
fill_fw_att_control_output();
fill_fw_att_rates_sp();
/* Only publish if actuator_control mode is not enabled */
if(!_v_control_mode.flag_control_offboard_actuator_control_enabled)
/* Only publish if the proper mode(s) are enabled */
if(_v_control_mode.flag_control_attitude_enabled ||
_v_control_mode.flag_control_rates_enabled)
{
if (_actuators_0_pub > 0) {
orb_publish(ORB_ID(actuator_controls_0), _actuators_0_pub, &_actuators_out_0);